template<typename _Derived>

manif::RnBase struct

Base classes

template<class _Derived>

struct LieGroupBase<_Derived>

Base class for Lie groups. Defines the minimum common API.

Public types

using Transformation = typename internal::traits<_Derived>::Transformation

Public functions

auto inverse(OptJacobianRef J_minv_m = {}) const -> LieGroup

Get the inverse of this.

auto log(OptJacobianRef J_t_m = {}) const -> Tangent

Get the Rn corresponding Lie algebra element in vector form.

auto lift(OptJacobianRef J_t_m = {}) const -> MANIF_DEPRECATED Tangent

This function is deprecated. Please considere using log instead.

template<typename _DerivedOther>

auto compose(const LieGroupBase<_DerivedOther>& m, OptJacobianRef J_mc_ma = {}, OptJacobianRef J_mc_mb = {}) const -> LieGroup

Composition of this and another Rn element.

template<typename _EigenDerived>

auto act(const Eigen::MatrixBase<_EigenDerived>& v, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, Dim, DoF>>> J_vout_m = {}, tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, Dim, Dim>>> J_vout_v = {}) const -> Eigen::Matrix< Scalar, Dim, 1 > -> auto

Translation action on a 2-vector.

auto adj() const -> Jacobian

Get the ajoint matrix of Rn at this.

auto transform() const -> Transformation

Get the transformation matrix (2D isometry).

auto coeffs() -> DataType&

Access the underlying data by const reference.

auto coeffs() const -> const DataType&

Access the underlying data by const reference.

Protected functions

auto derived() & -> _Derived& noexcept

auto derived() const & -> const _Derived& noexcept

Function documentation